Warehousing method and device based on counterweight stacking type unmanned forklift

Abstract

The invention discloses a warehousing method and device based on a counterweight stacking type unmanned forklift. The method comprises the following steps: acquiring a first parameter information set of goods to be warehoused in a warehousing cache region; acquiring a second parameter information set of a vacant storage location in the three-dimensional warehouse; and based on the first parameter information set and the second parameter information set, a first target control strategy is generated, and the first target control strategy is used for controlling the target forklift to carry out transportation operation on the to-be-warehoused goods. Through matching analysis of the information of the goods to be warehoused and the vacant storage location information, the system can intelligently dispatch the unmanned forklift, automatic material carrying is achieved, and the technical problem that in the prior art, a material carrying system is low in operation efficiency is solved.

Description

Technical Field

[0001] The present invention relates to the field of automobile parts warehousing, and in particular to a warehousing method and device based on a counterbalanced stacking type unmanned forklift. Background Art

[0002] The material handling system is an important part of realizing the automated material handling. It is widely used in the fields of intelligent manufacturing, automobile manufacturing, home appliances, medicine, tobacco, food, warehousing and logistics. At present, the demand for material handling systems in the logistics industry is increasing, and the requirements for system automation, intelligence and informatization are becoming more and more stringent. The material handling system is mainly composed of storage equipment, handling equipment, conveying equipment, control system and automation management software. The system uses automated equipment such as AGV / AMR, RGV, conveyor lines, stackers, forklifts, etc. to realize the automatic handling, storage, picking and transportation of materials. The automated material handling system realizes the automatic handling and storage of materials in the operation process to improve labor productivity, reduce production costs, reduce the risk of personal injury, and ultimately achieve the goal of energy conservation and emission reduction.

[0003] In recent years, the automation and intelligence levels of material handling systems in the domestic logistics industry have gradually improved, but the following problems still exist: low operating efficiency of material handling systems, high operating costs of material handling systems, and low operating safety of material handling systems.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiment of the present invention provides a warehousing method and device based on a counterbalanced stacker type unmanned forklift, so as to at least solve the technical problem of low operating efficiency of the material handling system in the prior art.

[0006] According to one aspect of an embodiment of the present invention, a warehousing method based on a counterbalanced stacker unmanned forklift is provided, comprising: obtaining a first parameter information set of goods to be stored in a warehousing buffer area; obtaining a second parameter information set of vacant storage locations in a three-dimensional warehouse; based on the first parameter information set and the second parameter information set, generating a first target control strategy, the first target control strategy being used to control a target forklift to perform transportation operations on the goods to be stored.

[0007] Furthermore, the method also includes: generating a second target control strategy based on a size information set of the goods to be stored in the first parameter information set, and the second target control strategy set is used to control the target forklift to perform a depalletizing operation.

[0008] Furthermore, based on the first parameter information set and the second parameter information set, a first target control strategy is generated, including: obtaining parameter information of pallets in the three-dimensional warehouse, wherein the parameter information of the pallets includes at least one of the following: pallet position information and pallet status information; when it is determined that the parameter information of the pallet meets the first preset condition, based on the quantity information of the goods to be stored and the size information set of the goods to be stored in the first parameter information set, and the quantity information of vacant storage locations and the size information set of the vacant storage locations in the second parameter information set, a first target control strategy is generated.

[0009] Furthermore, based on the first parameter information set and the second parameter information set, a target control strategy set is generated, including: obtaining a location information set of the goods to be stored in the first parameter information set, wherein the location information set of the goods to be stored includes the location information of each of the goods to be stored; obtaining the location information of the entrance port of the three-dimensional warehouse; based on the location information set of the goods to be stored and the location information of the entrance port, generating third parameter information, wherein the third parameter information includes at least one of the following: transportation path information and transportation speed information; when it is determined that the parameter information of the pallet meets the first preset condition, generating a first target control strategy based on the first parameter information set, the second parameter information set and the third parameter information.

[0010] Furthermore, the method also includes: obtaining a time information set of the goods to be entered in the first parameter information set, wherein the time information set of the goods to be entered includes the time information of each goods to be entered being placed in the entry buffer area; sorting based on the time information set of the goods to be entered, generating fourth parameter information, the fourth parameter information being the transportation sequence information of the goods to be entered; and generating a first target control strategy based on the first parameter information set, the second parameter information set and the fourth parameter information when it is determined that the parameter information of the pallet meets the first preset condition.

[0011] Furthermore, the method also includes: when it is determined that the pallet position information meets the second preset condition, generating a first prompt information, the first prompt information being used to prompt the staff that the warehousing task is in an abnormal state.

[0012] Furthermore, the method also includes: determining the warehousing status of the goods to be stored based on the parameter information of the pallet, wherein the warehousing status includes: successful warehousing and unsuccessful warehousing; when it is determined that the warehousing status is unsuccessful warehousing, generating a second prompt information, and the second prompt information is used to prompt the staff that the warehousing of the goods to be stored is unsuccessful.

[0013] According to another aspect of an embodiment of the present invention, there is also provided a warehousing device based on a counterbalanced stacker type unmanned forklift, comprising: a first acquisition module, the first acquisition module is used to acquire a first parameter information set of goods to be stored in a warehousing buffer area; a second acquisition module, the second acquisition module is used to acquire a second parameter information set of vacant storage locations in a three-dimensional warehouse; a generation module, the generation module is used to generate a first target control strategy based on the first parameter information set and the second parameter information set, the first target control strategy is used to control a target forklift to perform transportation operations on the goods to be stored.

[0014] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0015] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0016] In an embodiment of the present invention, a method of obtaining a first parameter information set of goods to be stored and a second parameter information set of vacant storage locations in a three-dimensional warehouse is adopted. By dividing the vacant storage locations and monitoring the storage location status, the purpose of planning transportation operations based on the parameter information of the vacant storage locations and the goods to be stored is achieved, thereby achieving the technical effect of an unmanned forklift transporting the goods to be stored to the three-dimensional warehouse, and further solving the technical problem of low operating efficiency of the material handling system in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of an optional warehousing method based on a counterbalanced stacker type unmanned forklift according to an embodiment of the present invention;

[0019] Figure 2 is a flow chart of an optional warehousing method based on a counterbalanced stacker type unmanned forklift according to an embodiment of the present invention;

[0020] Figure 3 It is a structural block diagram of an optional warehousing method based on a counterbalanced stacker type unmanned forklift according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] According to an embodiment of the present invention, a method embodiment of a warehousing method based on a counterbalanced stacker type unmanned forklift is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] Figure 1 is a method according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0025] Step S10, obtaining a first parameter information set of the goods to be stored in the storage buffer area.

[0026] In step S10, the system first obtains the parameter information of the goods in the incoming buffer area through sensors, visual recognition systems or other data collection methods. This usually includes the size, weight, type, quantity, placement and any special handling requirements of the goods. For example, the Mingmou system (visual recognition system) can sense the status of the goods in the incoming buffer area in real time and identify the box size of the goods. This information is crucial for subsequent transportation operations.

[0027] Step S12, obtaining a second parameter information set of vacant storage locations in the three-dimensional warehouse.

[0028] In step S12, the system needs to collect information on vacant storage locations in the three-dimensional warehouse that can be used to store goods to be stored. This includes parameters such as the location, size, and carrying capacity of the vacant locations, as well as information on whether the storage requirements for specific types of goods are met. The AGVS system (Automated_Guided_Veh ic le_System) is connected to the Mingmou system and RCS (Robot_Controll_System), and can obtain the real-time inventory status and storage location parameters of the three-dimensional warehouse, so as to determine which storage locations are vacant and can be used to store goods to be stored.

[0029] Step S14: generating a first target control strategy based on the first parameter information set and the second parameter information set, wherein the first target control strategy is used to control the target forklift to perform a transportation operation on the goods to be stored.

[0030] In step S14, after obtaining the detailed parameters of the goods to be stored and the vacant storage locations, the system formulates the first target control strategy based on this information, that is, the transportation operation strategy of the unmanned forklift. This includes but is not limited to: planning the optimal driving path of the unmanned forklift according to the placement of the goods and the geographical location of the target storage location; speed and motion control: setting the speed of the unmanned forklift during transportation, as well as the motion requirements at specific locations (such as guide devices, conveyor lines, and storage locations) to ensure that the goods can be placed smoothly and accurately at the designated storage location; determining the priority of the transportation task according to the storage time and urgency of the goods, and ensuring that high-priority goods are stored first; setting a processing mechanism when the pallet position information is abnormal or the goods cannot be stored normally, such as generating a prompt message to notify the staff to intervene.

[0031] In steps S10-S14, the generation of the first target control strategy aims to ensure that the unmanned forklift can perform transportation operations efficiently and accurately, and can intelligently respond to various abnormal situations that may occur to maintain the smoothness and safety of the entire warehousing process. By matching and analyzing the information of the goods to be stored with the information of the vacant storage locations, the system can intelligently dispatch the unmanned forklift to realize automated material handling, greatly improve logistics efficiency and reduce costs.

[0032] As an optional implementation, the method further includes the following steps:

[0033] Step S21: Based on the size information set of the goods to be stored in the first parameter information set, a second target control strategy is generated, and the second target control strategy set is used to control the target forklift to perform depalletizing operations.

[0034] In step S21, it is analyzed in detail how to generate the second target control strategy based on the size information set of the goods to be stored to optimize the unmanned forklift's depalletizing operation. This process usually includes the following key steps:

[0035] Dimension information analysis: First, the system extracts the dimension information of the goods to be stored from the first parameter information set, including but not limited to the length, width, height, volume, shape, etc. This information is crucial to determine the placement and destacking strategy of the goods.

[0036] Depalletizing operation planning: Based on the size information of the goods, the system generates the second target control strategy, which is the depalletizing operation planning of the unmanned forklift. This includes determining the specific actions of the unmanned forklift when performing the depalletizing operation, such as the angle, height, speed of forking the goods, and how to avoid collision or damage between the goods.

[0037] Forklift posture adjustment: Before unloading, the unmanned forklift needs to adjust its posture and fork position according to the size information of the goods to ensure that the goods can be picked up stably and without damage. The system will calculate the best fork insertion point and angle based on the size and shape of the goods as part of the second target control strategy.

[0038] Layered or classified placement: If the goods need to be placed in layers or categories, the control strategy of the unmanned forklift will take this requirement into consideration. The system determines which layer and which type of storage location the goods should be placed in based on the size information of the goods and the parameters of the vacant storage locations in the three-dimensional warehouse, so as to achieve efficient use of space and orderly management of materials.

[0039] Exception handling strategy: The second objective control strategy should also include an exception handling mechanism. If there are abnormal situations such as cargo size exceeding tolerance or packaging deformation during the depalletizing process, the system will generate a corresponding handling strategy, which may include adjusting the action of the unmanned forklift, re-planning the placement strategy, or triggering manual intervention.

[0040] Through the above steps, the second target control strategy ensures that the unmanned forklift can make the best action and placement decision according to the size information of the goods when performing the depalletizing operation, thereby improving the efficiency, accuracy and safety of the operation. This step is an extremely important part of the entire automated warehousing process, which is directly related to whether the unmanned forklift can successfully and efficiently transport the goods to the designated location of the three-dimensional warehouse.

[0041] Further, based on the first parameter information set and the second parameter information set, a first target control strategy is generated, including:

[0042] Step S221: Obtain parameter information of the pallet in the three-dimensional warehouse, wherein the parameter information of the pallet includes at least one of the following: pallet position information and pallet status information.

[0043] In step S221, the system collects the pallet information inside the three-dimensional warehouse through the integrated sensor or communication module. The parameter information of the pallet mainly includes the pallet position information and the pallet status information. The pallet position information specifically refers to the three-dimensional coordinates of the pallet in the three-dimensional warehouse, including the channel, layer and specific position of the pallet. This information is crucial for the positioning and handling operations of unmanned forklifts. The status information of the pallet includes whether it is empty (no goods), whether it is loaded (partially or fully loaded with goods), whether it is damaged or needs repair, etc. The status information helps the system determine which pallet is available and whether the loading order of the goods needs to be adjusted or optimized.

[0044] Step S222: When it is determined that the parameter information of the pallet meets the first preset condition, a first target control strategy is generated based on the quantity information and size information set of the goods to be stored in the first parameter information set, and the quantity information and size information set of the vacant storage locations in the second parameter information set.

[0045] In step S222, after collecting the parameter information of the pallet, the system will check the information according to the preset conditions to determine which pallets meet the conditions and can be used to store the goods to be stored. These conditions may include whether the location of the pallet is on the goods transportation path, whether the pallet status is idle and intact, etc. If the parameter information of the pallet meets the first preset condition, the system will perform the following operations:

[0046] Analyze the quantity and size of goods: Based on the first parameter information set, the system analyzes the quantity information and size information set of the goods to be warehoused, determines the volume and weight of each batch of goods, and evaluates whether it can be safely and effectively loaded onto the target pallet.

[0047] Matching vacant storage locations: At the same time, the system will search the quantity information and size information set of the vacant storage locations from the second parameter information set to find the storage location that best matches the goods size.

[0048] Generate transportation strategy: Then, the system generates the first target control strategy based on the above information, which includes:

[0049] Path planning: Determine the optimal driving path for the unmanned forklift from the warehouse buffer area to the target storage location in the three-dimensional warehouse.

[0050] Speed ​​control: Set the driving speed of the unmanned forklift on different roads to ensure safety and efficiency.

[0051] Action instructions: Give the unmanned forklift specific action instructions during the handling process, such as the forking, placement angle and height of the goods, to adapt to goods and pallets of different sizes.

[0052] Exception handling: Set up the processing flow when encountering abnormal pallet position, cargo size out of tolerance, etc., to ensure that the system can respond quickly and avoid operation interruption.

[0053] Based on steps S221-S222, the generation of the first target control strategy is a dynamic optimization process. The system will adjust the strategy according to the real-time cargo and storage location information to achieve efficient and accurate transportation operations of the unmanned forklift. In this way, the present invention can ensure that during the storage of auto parts in the warehouse, the unmanned forklift can automatically and intelligently complete the entire process from handling, destacking to warehousing, greatly improving logistics efficiency and operation accuracy, while reducing the cost and errors caused by manual operation.

[0054] Optionally, generating a target control strategy set based on the first parameter information set and the second parameter information set includes:

[0055] Step S231: Acquire the location information set of the goods to be stored in the first parameter information set, wherein the location information set of the goods to be stored includes the location information of each of the goods to be stored.

[0056] In step S231, the AGVS system extracts the precise location information of each item to be stored from the first parameter information set, including the arrangement of the items in the storage buffer area, the specific coordinates, and their relative positions relative to the unmanned forklift. This information is crucial for the unmanned forklift to pick up the items, ensuring that the forklift can accurately find and pick up each item.

[0057] Step S232: Obtain the storage entrance location information of the three-dimensional warehouse.

[0058] In step S232, the system obtains the specific location information of the entrance of the three-dimensional warehouse, including the three-dimensional coordinates of the entrance and its layout position relative to the warehouse area. This information is used to plan the transportation destination of the unmanned forklift to ensure that the unmanned forklift can accurately deliver the goods to the entrance and prepare for subsequent warehousing operations.

[0059] Step S233: Generate third parameter information based on the location information set of the goods to be stored and the location information of the storage port, wherein the third parameter information includes at least one of the following: transportation path information and transportation speed information.

[0060] In step S233, the system generates the third parameter information, namely the transportation path information and transportation speed information of the unmanned forklift, based on the location information set of the goods to be stored and the location information of the storage entrance. Path planning is to calculate the shortest or safest path for the unmanned forklift from the pickup point in the storage buffer area to the storage entrance of the stereoscopic warehouse based on the location information of the goods and the storage entrance, as well as the information of dynamic obstacles in the storage area (such as other AGV forklifts, personnel, etc.). In addition, the system will also set the transportation speed information, taking into account the weight and size of the goods and the traffic conditions in the storage area, to determine the optimal driving speed of the unmanned forklift in different sections to ensure the safety and efficiency of the transportation process.

[0061] Step S234: When it is determined that the tray parameter information meets the first preset condition, a first target control strategy is generated based on the first parameter information set, the second parameter information set and the third parameter information.

[0062] In step S234, when the parameter information of the pallet (such as pallet location information, pallet status information) meets the preset safety and availability conditions, the system integrates the first parameter information set (information of goods to be stored), the second parameter information set (information of vacant storage locations) and the third parameter information (transportation path and speed information) to generate a first target control strategy. This strategy will guide the entire transportation operation of the unmanned forklift, including the positioning of the pickup point, the following of the transportation path, the alignment of the storage entrance and the control of the transportation speed, ensuring that the unmanned forklift can efficiently and accurately complete the task of transporting goods from the storage buffer area to the storage entrance of the stereoscopic warehouse, laying the foundation for the subsequent automatic storage process.

[0063] Based on steps S231-S234, the system can achieve refined control over the automated material handling of unmanned forklifts, which not only improves logistics efficiency and operation accuracy, but also significantly reduces labor costs and safety hazards in production, providing strong technical support for logistics automation.

[0064] Optionally, the method further comprises:

[0065] Step S241: obtaining a time information set of the goods to be stored in the first parameter information set, wherein the time information set of the goods to be stored includes time information of each of the goods to be stored being placed in the storage buffer area.

[0066] In step S241, the system first extracts the placement time information of each piece of goods to be stored from the first parameter information set, which records when the goods are placed in the storage buffer area. By obtaining the time information, the system can understand the waiting time and priority of each batch of goods.

[0067] Step S242: Sorting is performed based on the time information set of the goods to be stored, and fourth parameter information is generated. The fourth parameter information is the transportation sequence information of the goods to be stored.

[0068] In step S242, the system sorts the goods according to the placement time information and generates the fourth parameter information, namely, the transportation sequence information of the goods. Generally, the system adopts the principle of First In First Out (FIFO), that is, the goods that enter the storage buffer area first are transported and stored first, so as to avoid the goods waiting in the buffer area for a long time, and also avoid the extra costs caused by the expiration or deterioration of the goods.

[0069] Step S243: When it is determined that the parameter information of the tray meets the first preset condition, a first target control strategy is generated based on the first parameter information set, the second parameter information set and the fourth parameter information.

[0070] In step S243, after determining the transportation sequence of the goods, the system will further check the parameter information of the pallets in the three-dimensional warehouse to ensure that they meet the preset conditions (such as pallet vacancy, size matching, carrying capacity, etc.). If the pallet parameter information is qualified, the system will generate a first target control strategy by integrating the first parameter information set (cargo size, quantity, etc.), the second parameter information set (storage space vacancy, size information, etc.) and the fourth parameter information (transportation sequence). This strategy includes: Path planning: According to the transportation sequence information, the system plans the specific driving path of the unmanned forklift from the storage buffer area to the three-dimensional warehouse. Job scheduling: According to the transportation sequence, the system arranges the operation tasks of the unmanned forklift to ensure that the goods can be transported and stored in time sequence. Speed ​​and motion control: The system sets the speed and motion details of the unmanned forklift during the transportation process to meet the requirements of different goods and pallets. Exception handling: Once it is found that the goods have been placed for too long or the pallet information is abnormal, the system can immediately adjust the control strategy and trigger the exception handling process to avoid operation delays or cargo losses.

[0071] Based on steps S241-S243, the first target control strategy ensures that the unmanned forklift can complete the cargo handling task efficiently and orderly, while optimizing inventory management and reducing potential operational risks. This control strategy based on time information is particularly suitable for the storage of automotive parts in warehouses with frequent demand changes, large logistics volume, and a wide variety of goods, which helps to improve the overall logistics efficiency and warehouse operation efficiency.

[0072] Optionally, the method further comprises:

[0073] Step S25: When it is determined that the pallet position information satisfies the second preset condition, a first prompt message is generated, where the first prompt message is used to prompt the staff member that the warehousing task is in an abnormal state.

[0074] In step S25, the following steps are generally included:

[0075] Pallet location check: The system first checks the current location information of the pallet according to the second preset condition. The second preset condition may include which layer the pallet should be located at, which designated location of which channel, and whether the pallet has been moved to the storage preparation area. These conditions are designed to ensure that the pallet is in the correct position so that the unmanned forklift can smoothly carry out cargo handling and storage operations.

[0076] Abnormal status determination: If the system checks and finds that the pallet position information does not meet the second preset condition, such as the pallet has not arrived at the specified position, the position information is wrong, or the pallet has moved at an inappropriate time, this will be regarded as an abnormal state.

[0077] First prompt information generation: After determining that the warehousing task is in an abnormal state, the system will generate the first prompt information. This prompt information can be a text message, sound alarm or visual warning, which is sent to the on-site staff through the AGVS system, RCS_UI interface or other communication equipment in the warehouse area.

[0078] Exception handling instructions: The first prompt message usually contains a detailed description of the abnormal status and recommended handling steps. For example, if the pallet does not arrive at the specified location, the prompt message may suggest that the staff check the pallet's movement path or manually adjust the pallet's position to ensure that subsequent warehousing operations can proceed normally.

[0079] System status update: After the staff receives the first prompt information and handles it accordingly, the system will update the status information about the pallet and warehousing task to reflect the latest situation after the exception is resolved. This helps the system re-evaluate and plan the warehousing operation to ensure the smoothness of the overall logistics process.

[0080] Through the above steps, when the pallet position information does not meet the preset conditions, the system can quickly identify and report the abnormal state, prompting the staff to intervene in time, thereby avoiding possible operation delays or cargo handling errors, and improving the stability and efficiency of the entire logistics automation system. This mechanism is an important part of the abnormal handling and fault recovery process in the logistics automation system, and is crucial to ensuring continuous and efficient material handling operations.

[0081] Optionally, the method further comprises:

[0082] Step S261: Based on the parameter information of the pallet, determine the storage status of the goods to be stored, where the storage status includes: successful storage and unsuccessful storage.

[0083] In step S261, the system analyzes the real-time parameter information of the pallet to determine the storage status of the goods. This process involves the following operations:

[0084] Pallet status detection: The system collects information such as the current position, load condition, and cargo placement status of the pallet through integrated sensors (such as RFID, barcode scanners, or vision systems) or communication modules to assess whether the cargo has been successfully put into storage.

[0085] Data comparison and analysis: Compare the collected pallet parameter information with the expected warehousing parameters, such as checking whether the pallet has been moved to the preset warehousing location, whether the pallet load matches the weight of the incoming goods, and whether the goods are placed correctly.

[0086] Determination of warehousing status: Based on the results of comparative analysis, the system determines the warehousing status of each item of goods to be warehousing, which can be successful warehousing (the goods have been correctly warehousing) or unsuccessful warehousing (the goods have not been correctly warehousing or there are abnormal conditions).

[0087] Step S262: When it is determined that the warehousing status is unsuccessful, a second prompt message is generated, and the second prompt message is used to prompt the staff that the warehousing of the goods to be stored is unsuccessful.

[0088] In step S262, when the system determines that the storage status of a certain item of goods to be stored is unsuccessful, a second prompt message is generated to notify the staff in time. This process usually includes:

[0089] Second prompt information generation: The system will generate detailed second prompt information based on the specific reasons for the warehousing failure. The information may include the ID of the goods that failed to enter the warehouse, the reasons for the failure (such as wrong placement of goods, wrong pallet position, system failure, etc.), and recommended processing steps.

[0090] Prompt message sending: The second prompt message will be sent to the on-site staff through the system's communication channels (such as the AGVS system, RCS_UI interface or warning lights and audio equipment in the warehouse area) to ensure that they can quickly receive abnormal notifications.

[0091] Exception handling guidance: The second prompt information may also include steps to guide staff on how to handle warehousing failures, such as instructing them to manually adjust the position of goods, re-plan the pallet movement path, check and repair system failures, etc., so as to resume normal warehousing operations as soon as possible.

[0092] System status update: After the staff completes the exception handling and feedbacks the handling results, the system will update the warehousing status information of the pallet and goods to reflect the latest warehousing results and provide accurate data support for subsequent operations.

[0093] Through steps S261-S262, the system can monitor the dynamics of warehousing operations in real time, quickly identify and report warehousing failures, prompt staff to intervene in time, avoid possible operation delays, and ensure the continuous and efficient operation of the logistics automation system. This real-time monitoring and abnormal reporting mechanism based on pallet parameter information is an indispensable part of the logistics automation system, which helps to improve the overall logistics efficiency and the intelligent level of warehouse management.

[0094] Combination Figure 2 As shown, as an optional implementation, the following steps are also included:

[0095] Step S21: Based on the size information set of the goods to be stored in the first parameter information set, a second target control strategy is generated, and the second target control strategy set is used to control the target forklift to perform depalletizing operations.

[0096] Step S221: Obtain parameter information of the pallet in the three-dimensional warehouse, wherein the parameter information of the pallet includes at least one of the following: pallet position information and pallet status information.

[0097] Step S222: When it is determined that the parameter information of the pallet meets the first preset condition, a first target control strategy is generated based on the quantity information and size information set of the goods to be stored in the first parameter information set, and the quantity information and size information set of the vacant storage locations in the second parameter information set.

[0098] Step S231: Acquire the location information set of the goods to be stored in the first parameter information set, wherein the location information set of the goods to be stored includes the location information of each of the goods to be stored.

[0099] Step S232: Obtain the storage entrance location information of the three-dimensional warehouse.

[0100] Step S233: Generate third parameter information based on the location information set of the goods to be stored and the location information of the storage port, wherein the third parameter information includes at least one of the following: transportation path information and transportation speed information.

[0101] Step S233: Generate third parameter information based on the location information set of the goods to be stored and the location information of the storage port, wherein the third parameter information includes at least one of the following: transportation path information and transportation speed information.

[0102] Step S234: When it is determined that the tray parameter information meets the first preset condition, a first target control strategy is generated based on the first parameter information set, the second parameter information set and the third parameter information.

[0103] Step S242: Sorting is performed based on the time information set of the goods to be stored, and fourth parameter information is generated. The fourth parameter information is the transportation sequence information of the goods to be stored.

[0104] Step S243: When it is determined that the parameter information of the tray meets the first preset condition, a first target control strategy is generated based on the first parameter information set, the second parameter information set and the fourth parameter information.

[0105] Step S25: When it is determined that the pallet position information satisfies the second preset condition, a first prompt message is generated, where the first prompt message is used to prompt the staff member that the warehousing task is in an abnormal state.

[0106] Step S261: Based on the parameter information of the pallet, determine the storage status of the goods to be stored, where the storage status includes: successful storage and unsuccessful storage.

[0107] Based on steps S21-S261, the system can realize fully automated logistics operations from depalletizing, transportation to warehousing, and has the ability to detect and handle anomalies, ensuring the efficiency, accuracy and safety of the entire logistics process. This control logic is one of the key technologies for realizing logistics automation and intelligence, and is particularly suitable for automotive parts warehouse scenarios that require high-precision operations and real-time monitoring.

[0108] According to an embodiment of the present invention, there is provided an embodiment of a warehousing device based on a counterbalanced stacker type unmanned forklift. It should be noted that the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0109] Figure 3 1 is a structural block diagram of a warehousing device based on a counterbalanced stacking unmanned forklift according to one embodiment of the present invention. Figure 3 As shown, the device comprises:

[0110] A first acquisition module 301, the first acquisition module 301 is used to acquire a first parameter information set of goods to be stored in the storage buffer area;

[0111] A second acquisition module 302, the second acquisition module 302 is used to obtain a second parameter information set of vacant storage locations in the three-dimensional warehouse;

[0112] The generating module 303 is used to generate a first target control strategy based on the first parameter information set and the second parameter information set. The first target control strategy is used to control the target forklift to transport the goods to be stored.

[0113] Optionally, the generating module 303 is further used to generate a second target control strategy based on the size information set of the goods to be stored in the first parameter information set, and the second target control strategy set is used to control the target forklift to perform the depalletizing operation.

[0114] Optionally, the second acquisition module 302 is also used to acquire parameter information of pallets in the three-dimensional warehouse, wherein the parameter information of the pallets includes at least one of the following: pallet position information and pallet status information; optionally, the generation module 303 is also used to generate a first target control strategy based on the quantity information of the goods to be stored and the size information set of the goods to be stored in the first parameter information set, and the quantity information of the vacant storage locations and the size information set of the vacant storage locations in the second parameter information set when it is determined that the parameter information of the pallet meets the first preset condition.

[0115] Optionally, the first acquisition module 301 is also used to obtain the location information set of the goods to be stored in the first parameter information set, wherein the location information set of the goods to be stored includes the location information of each piece of goods to be stored; the second acquisition module 302 is also used to obtain the location information of the entrance port of the three-dimensional warehouse; the generation module 303 is also used to generate third parameter information based on the location information set of the goods to be stored and the location information of the entrance port, wherein the third parameter information includes at least one of the following: transportation path information and transportation speed information; the generation module 303 is also used to generate a first target control strategy based on the first parameter information set, the second parameter information set and the third parameter information when it is determined that the parameter information of the pallet meets the first preset condition.

[0116] Optionally, the first acquisition module 301 is also used to obtain the time information set of the goods to be entered in the first parameter information set, wherein the time information set of the goods to be entered includes the time information of each piece of goods to be entered in the storage buffer area; the generation module 303 is also used to sort the goods to be entered based on the time information set, and generate fourth parameter information, and the fourth parameter information is the transportation sequence information of the goods to be entered; when it is determined that the parameter information of the pallet meets the first preset condition, the first target control strategy is generated based on the first parameter information set, the second parameter information set and the fourth parameter information.

[0117] Optionally, the generating module 303 is further used to generate a first prompt message when it is determined that the pallet position information meets the second preset condition, and the first prompt message is used to prompt the staff that the warehousing task is in an abnormal state. Based on the parameter information of the pallet, the warehousing status of the goods to be warehousing is determined, wherein the warehousing status includes: successful warehousing and unsuccessful warehousing; when it is determined that the warehousing status is unsuccessful warehousing, a second prompt message is generated, and the second prompt message is used to prompt the staff that the goods to be warehousing are unsuccessful.

[0118] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0119] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0120] Step S10, obtaining a first parameter information set of the goods to be stored in the storage buffer area.

[0121] Step S12, obtaining a second parameter information set of vacant storage locations in the three-dimensional warehouse;

[0122] Step S14: generating a first target control strategy based on the first parameter information set and the second parameter information set, wherein the first target control strategy is used to control the target forklift to perform a transportation operation on the goods to be stored.

[0123] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0124] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0125] Step S10, obtaining a first parameter information set of the goods to be stored in the storage buffer area.

[0126] Step S12, obtaining a second parameter information set of vacant storage locations in the three-dimensional warehouse;

[0127] Step S14: generating a first target control strategy based on the first parameter information set and the second parameter information set, wherein the first target control strategy is used to control the target forklift to perform a transportation operation on the goods to be stored.

[0128] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0129] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0130] Optionally, in this embodiment, the computer program product may be configured as a computer program for executing the following steps:

[0131] Step S10, obtaining a first parameter information set of the goods to be stored in the storage buffer area.

[0132] Step S12, obtaining a second parameter information set of vacant storage locations in the three-dimensional warehouse;

[0133] Step S14: generating a first target control strategy based on the first parameter information set and the second parameter information set, wherein the first target control strategy is used to control the target forklift to perform a transportation operation on the goods to be stored.

[0134] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0137] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0139] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A warehousing method based on a counterbalanced stacker type unmanned forklift, characterized in that: include: Obtain a first parameter information set of goods to be stored in the storage buffer area; Obtain a second parameter information set of vacant storage locations in the three-dimensional warehouse; A first target control strategy is generated based on the first parameter information set and the second parameter information set, where the first target control strategy is used to control a target forklift to transport the goods to be stored.

2. The method according to claim 1, characterized in that The method further comprises: Based on the size information set of the goods to be stored in the first parameter information set, a second target control strategy is generated, and the second target control strategy is used to control the target forklift to perform a depalletizing operation.

3. The method according to claim 1 or 2, characterized in that: Generating the first target control strategy based on the first parameter information set and the second parameter information set includes: Acquire parameter information of the pallet in the three-dimensional warehouse, wherein the parameter information of the pallet includes at least one of the following: pallet position information and pallet status information; When it is determined that the parameter information of the pallet meets the first preset condition, the first target control strategy is generated based on the quantity information of the goods to be stored and the size information set of the goods to be stored in the first parameter information set, and the quantity information of the vacant storage locations and the size information set of the vacant storage locations in the second parameter information set.

4. The method according to claim 3, characterized in that Generating the target control strategy set based on the first parameter information set and the second parameter information set includes: Acquire the location information set of the goods to be stored in the first parameter information set, wherein the location information set of the goods to be stored includes the location information of each of the goods to be stored; Obtaining the storage entrance position information of the three-dimensional warehouse; Based on the location information set of the goods to be stored and the location information of the storage port, third parameter information is generated, wherein the third parameter information includes at least one of the following: transportation path information and transportation speed information; When it is determined that the parameter information of the tray meets the first preset condition, the first target control strategy is generated based on the first parameter information set, the second parameter information set and the third parameter information.

5. The method according to claim 4, characterized in that The method further comprises: Acquire the time information set of the goods to be stored in the first parameter information set, wherein the time information set of the goods to be stored includes the time information of each of the goods to be stored being placed in the storage buffer area; Sorting the time information set of the goods to be stored to generate fourth parameter information, where the fourth parameter information is the transportation sequence information of the goods to be stored; When it is determined that the parameter information of the tray meets the first preset condition, the first target control strategy is generated based on the first parameter information set, the second parameter information set and the fourth parameter information.

6. The method according to claim 3, characterized in that The method further comprises: When it is determined that the pallet position information satisfies the second preset condition, a first prompt information is generated, where the first prompt information is used to prompt the staff member that the warehousing task is in an abnormal state.

7. The method according to claim 3, characterized in that The method further comprises: Based on the parameter information of the pallet, determining the storage status of the goods to be stored, wherein the storage status includes: storage success and storage failure; When it is determined that the warehousing status is that the warehousing is unsuccessful, a second prompt information is generated, and the second prompt information is used to prompt the staff that the warehousing of the goods to be stored is unsuccessful.

8. A storage device based on a counterbalanced stacker type unmanned forklift, characterized in that: include: A first acquisition module, the first acquisition module is used to acquire a first parameter information set of goods to be stored in the storage buffer area; A second acquisition module, the second acquisition module is used to acquire a second parameter information set of vacant storage locations in the three-dimensional warehouse; A generation module is used to generate a first target control strategy based on the first parameter information set and the second parameter information set, and the first target control strategy is used to control a target forklift to transport the goods to be stored.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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